The invention discloses a lane changing trajectory planning algorithm based on four-axis steering. A current road guide line and road boundary attributes are given according to a high-precision map. Obstacle information is given according to visual perception and the like. And in combination with vehicle kinematics parameter constraints, calculating a vehicle motion limit, processing a collision relationship and the like, planning a track based on an optimal control method. Oblique lane changing can be achieved during linear lane changing, drifting is avoided, flexibility of four-wheel steering is exerted on a curve, and lane changing to a target lane is achieved quickly.
本发明公开了一种基于四轴转向的换道轨迹规划算法,依据高精地图给出当前道路引导线和道路边界属性。依据视觉感知等给出障碍物信息。结合车运动学参数约束,计算车辆运动极限,处理碰撞关系等,基于最优化控制方法规划出轨迹。本发明可以实现在直线换道时实现斜行换道避免甩尾,弯道发挥四轮转向的灵活,快速换道至目标车道。
Lane changing trajectory planning algorithm based on four-axis steering
一种基于四轴转向的换道轨迹规划算法
06.08.2024
Patent
Elektronische Ressource
Chinesisch
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